How to reduce speed of a script command movej when safety reduced mode is initiated?

nflanne

Hi All,

We are using the below script command within a program to turn J5 + or - 90/180 degrees.

b:=get_joint_positions()   // returns actual angular positions for each joint in radians 
b[5]=b[5]+d2r(90)   // set joint 5 position + 90 degrees (d2r to convert from degrees to radians)
movej(b, a=190, v=500)  // initiate rotate (acceleration = 190 rad/s^2, velocity = rad/s)

We have noticed that reduced mode has no impact on this move. 

Anyone have experience with similar? 

Thanks

matthewd92

So reduced mode affects other moves correctly in your program? Just not the script based move? Have you tried just using a regular move command out of the structure tab?  You can set the waypoint type to be a variable and then can choose variable b.  Behind the scenes its basically building the script command that you have there though so doesn't make sense why it wouldn't work the way you have it.